Finally did my Tiptronic transmission flush & Pan filter at 100 000 miles. Here below a little DIY.
Disclaimer: you are using this DIY at your own risk. This is for information ONLY and does not replace any Manufacturer approved documentation/procedure
Even if really expensive, I highly recommend to using ONLY the OEM fluid

Parts
G060162A2 ATF fluid 6 liters (confirm the type of ATF with your VIN number at the Dealer. Incorrect fluid will damage your tranny)
09L321371 Pan Gasket
09L325429 Pan Filter
Difficulty: 4
Time: 3.5 hours
Tools:
Flat head screwdriver
Small level
7 mm Allen head socket
17 mm Allen head socket
T-25 Torx head socket
A good ratchet set with extensions
Torque wrench
Fluid pump (Harbor Freight - $8)
Ross Tech Cable
The car has to be level and high enough to crawl under. Here was my solution

This procedure has to be performed only on an engine totally cold.
Remove the rear splash guard covering the transmission belly pan
Take a small level and check belly pan for level. Take measurements sideways and front to back. If the pan is not leveled, make appropriate adjustments until perfectly level. This is a very important step.


Locate the 8mm Allen drain plug and the 17 mm Allen fill plug on the belly pan
Blue arrow = Drain plug
Red arrow = fill plug

Loosen 17mm Allen fill plug first. Take an extension, the plug is tough to break loose. We want to make sure we can refill the transmission before we drain it. Do not remove it
The, remove the drain plug (blue arrow) and drain the oil.
Using the T-25 Torx head and ratchet, loosen the 27 fasteners holding the belly pan. Remove all but 1 fastener. Gently loosen the remaining screw and the pan will start to tilt, allowing draining of the ATF.
Remove the old gasket and discard.
Lifetime fluid…yeah right!!

The next step involves wiping down the inside of the belly pan and cleaning the magnets. Solvents are not necessary and you do not want the risk of any residue solvents breaking down the new fluid. You can pull of the magnet, just remember to reinstall them.
Pretty messy inside and you can clearly see the deposit on the magnets



Just pull on the old filter and clip in place the new one


Reinstall the Belly Pan and New Gasket
Install all the screws by hand to make sure the gasket is properly centered all around

Once all bolts are in place Torque to 10 Nm (7 ft lb). In order to achieve uniform torque, choose 2 fasteners opposite of each other as start points. Torque the fasteners in an alternating fashion until all are fully secured.
Here are the CRITICAL STEPS:
Hook up the VagCom cable and go to: Select Control Module > 02 Auto Trans > 08 Meas. Blocks > Group 004. This will allow you to monitor the temperature of the ATF fluid.

Do NOT start vehicle yet, just keep the key in the ON position.
With the car still OFF, begin pumping fluid back into the transmission. You will need to insert the hose up through the fill hole and towards front of the vehicle. It should take about 2.5 – 3 liters before some overflows. Hand tight the fill plug.
Start the car. While keeping your foot on the brake, cycle through all the gears, holding each gear for 15 seconds. Go from “P” through “D” and back up from “D” to “P”. It is not necessary to run through the gears via the TIP mode. With the car in “P” and motor still running, remove the fill plug again and start pumping again until overflow. Also, be mindful that the ATF fluid temp must be below 40 degrees Celsius. Cycle through the gears again and pump fluid in until overflow while the car is still running. Repeat this process as many times as you can before the fluid reaches 40 degrees. Once you are approaching 40 degrees Celsius, re-install the fill plug before shutting off the motor. If you fail to do this, the car will dump fluid. Allow the car and fluid to cool down.
Once the car and ATF Fluid cools down (I waited until 32 degrees Celsius) start the car again and cycle the gears, same as before. Open the fill plug and continue pumping fluid into the transmission until over flow. Continue to cycle the gears and pump fluid until you reach 40 Degrees. Once you reach 40 degrees, pump until overflow, and reinstall the fill plug. Once the fill plug is re-installed, shut off the motor. Torque the fill plug to 80Nm (59 ft lbs).
If you did the process correctly, you should have gotten 5-5.5 liters into the transmission, minus the spillage. If you did not get at least six (6) quarts in, or if issues arose on the test drive, jack the car up again and allow to cool for several hours or overnight. Start the car, cycle the gears, remove the fill plug and keep pumping fluid until you get overflow at 40 degrees Celsius. Remember to re-insert the fill plug before shutting down the motor
Then, I test drove the car and what a difference: No more kicking, not even slight, on any mode!
Let me know if any question
Phil
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